A method and vehicle for automatic parking

An automatic parking and vehicle technology, applied in the parking field, can solve the problems of planning failure, poor universality, and inability to avoid obstacles, etc., and achieve the effect of automatic parking path optimization and improved search efficiency

Active Publication Date: 2021-10-12
GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
View PDF5 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when there are many obstacles in the parking scene, the path planned based on the geometric planning method can easily lead to planning failure because it cannot bypass obstacles.
[0003] In order to avoid planning failure, when using the geometry-based path planning method, it is usually necessary to manually set the parking reversing point, and for novice drivers, it is difficult to accurately control the parking reversing point
Moreover, the path planning method based on geometry has poor universality. It is only suitable for parking scenarios with wide parking spaces and aisles, and cannot achieve efficient path planning for other complex scenarios.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A method and vehicle for automatic parking
  • A method and vehicle for automatic parking
  • A method and vehicle for automatic parking

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0047] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Apparently, the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0048] The Rapidly Exploring Random Tree (RRT) algorithm is an incremental sampling search algorithm whose advantage lies in generating the final line by connecting discrete nodes in the configuration space. The RRT algorithm tends to expand to open unexplored areas, when the time is long enough and the number of iterations is large enough, there is no area that will not be explored.

[0049] As an improved algorithm of the RRT al...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

An embodiment of the present invention provides an automatic parking method and a vehicle, the method includes: during the automatic parking process, determining node distribution information for the area to be parked; wherein the node distribution information includes a plurality of The nodes that the vehicle can pass through; according to the node distribution information, determine an intermediate node, and perform a neighbor node search based on the intermediate node to obtain a plurality of neighbor nodes; respectively determine the cost information of the candidate paths corresponding to the plurality of neighbor nodes; Wherein, the candidate parking route is a path from the starting node to the intermediate node via the neighboring node; according to the cost information, a target neighboring node is determined, and automatic parking is performed according to the target neighboring node. Through the embodiment of the present invention, the optimization of the automatic parking path is realized, which is applicable to complex parking scenes and has universal applicability.

Description

technical field [0001] The invention relates to the technical field of parking, in particular to an automatic parking method and a vehicle. Background technique [0002] At present, most automatic parking methods use a geometry-based path planning method, which is mainly based on experience for setting planning. However, when there are many obstacles in the parking scene, the path planned based on the geometric planning method can easily lead to planning failure because it cannot bypass obstacles. [0003] In order to avoid planning failure, when using the geometry-based path planning method, it is usually necessary to manually set the parking reversing point, and for novice drivers, it is difficult to accurately control the parking reversing point. Moreover, the path planning method based on geometry has poor universality, and is only suitable for parking scenarios with wide parking spaces and aisles, and cannot achieve efficient path planning for other complex scenarios. ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & AuthorityPatents(China)
IPC IPC(8): B60W30/06B60W40/00
CPCB60W30/06B60W40/00B62D15/0285G01C21/3446G01C21/3685
Inventor许扬苏镜仁许匡正赖健明陈盛军
OwnerGUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD